永磁交流位置伺服系统串级复合滑模控制

Cascaded Compound Sliding-mode Control for Permanent Magnet Synchronous Motor Position Servo System

针对某永磁同步电动机位置伺服系统负载力矩和转动惯量变化大、干扰力矩强的特点,以及统一滑模变结构控制速度限幅的难题,提出并设计了串级复合滑模变结构控制器。其中速度环通过增加积分环节来消除滑模控制的力矩抖动,位置环通过复合滑模控制的设计来消除稳态滑模控制的抖振。计算机仿真结果表明,该控制器不仅响应速度快、无超调、控制精度高,同时对负载扰动和系统参数摄动具有较强的鲁棒性。

Aiming at wide variations in loads and moment of inertia, large disturbed moment of a permanent magnet synchronous motor position servo system, and the problem of velocity limit to uniform sliding mode control, a cascaded compound slide mode controller was proposed and designed for permanent magnet synchronous motor position servo system. In which integrate compensator was introduced in slide mode controller of velocity loop for reducing torque chattering, and compound sliding controller was designed to avoid chatter in slide mode controller of position loop. The computer simulation result shows that the controller enables the system to be of good fastness and no-overshoot and very high accuracy, especially it can enhance the ability of rejecting the load disturbance and varying of system parameters and takes on good robustness.